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Welcome to my home page. I am a Research Scientist working with Nicholas Roy at MIT CSAIL. I completed my Ph.D. at the MIT Media Lab in 2010, where I developed models for the meanings of spatial prepositions and motion verbs. My research interests include probabilistic graphical models, human-robot interaction, and grounded language understanding.

Here is our direction-understanding system running on a robotic helicopter:

I am also interested in reinforcement learning as applied to human-cat communication: